Title :
Friction Estimation of Ball and Plate System Based on Extended Kalman Filter
Author :
Xuefei, Zhang ; Yantao, Tian ; Hongrui, Wang ; Ce, Ding
Author_Institution :
Jilin Univ., Changchun
Abstract :
In the literature, a method of friction estimation based on extended Kalman filter aimed at the difficulty of obtaining the exact friction model was proposed. This method induced the concept of model error and designed an extended Kalman filter observer to estimate the value of friction on line. At the same time, the method of covariance matrix weighted modify was provided for the question of divergence of Kalman filter. The experiment result was shown in the end of paper.
Keywords :
Kalman filters; covariance matrices; nonlinear filters; plates (structures); rolling friction; ball friction estimation; covariance matrix; extended Kalman filter; plate system; Automation; Covariance matrix; Educational institutions; Electronic mail; Error analysis; Friction; Mathematical model; Mathematics; Observers; State estimation; ball and plate system; extended Kalman filter; friction; state estimation;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347254
